ROStoJAUSBridge Manual

Report No. ARL-MR-0812
Authors: Laurel Sadler, Chirag Rao, John Rogers, and Hung Nguyen
Date/Pages: March 2012; 54 pages
Abstract: The ROStoJAUSBridge is a software program implemented at the U.S. Army Research Laboratory (ARL) to leverage the image processing and intelligent mobility behaviors capabilities from the robot operating system (ROS) to the small unmanned ground vehicle (SUG)V. This software program allows for interaction between programs running on ROS and the iRobot SUGV. It converts ROS messages to messages adhering to the Joint Architecture for Unmanned Systems (JAUS) architecture and vice versa. The supported set of messages is limited to query and receive the velocity state of the SUGV which will be used with the inertial measurement unit (IMU) data to compute the local pose; and to send the velocity commands from ROS' programs to the SUGV.
Distribution: Approved for public release
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Last Update / Reviewed: March 1, 2012